Add test to your package

#pytest   #test   #ros2   #rclpy  

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Table of Content

Add test to your package

unit test without ROS: unittest/pytest unit test with ROS: launch_test + unittest Integration Testing: launch_test + unittest

Tip

All test run with colcon test

Minimal project structure

py_tutorial_pkg/
  py_tutorial_pkg/
      __init__.py
      demo.py
  package.xml
  setup.cfg
  setup.py
  tests/
      test_demo.py

setup.py

# Add line to setup.py
tests_require=['pytest'],

```python title=”py_tutorial_pkg/demo.py def func_under_test(a, b): return a+b

```python title="tests/test_demo.py"
from py_tutorial_pkg import demo

def test_math():
    result = demo.func_under_test(2, 2)
    assert result == 4

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usage

# Run test in verbose mode

colcon test --packages-select py_tutorial_pkg \
--event-handler=console_direct+ 

• Run specific test

# colcon test --packages-select <name-of-pkg> --pytest-args -k name_of_the_test_function

colcon test --packages-select py_tutorial_pkg \
--pytest-args -k test_math \
--event-handler=console_direct+ 

colcon event-handler

The event handler used to generate any kind of output base on the progress of the invocation

use + sign to enable handler and - to disabled

event-handler

• console_direct: Pass output directly to stdout, stderror
• console_cohesion: Pass job output at once after it has finish

check result

colcon test-result --all